CV_IMPL void
cvUndistort2( const CvArr* _src, CvArr* _dst, const CvMat* A, const CvMat* dist_coeffs )
{
static int inittab = 0;
uchar* buffer = 0;
CV_FUNCNAME( "cvUndistort2" );
__BEGIN__;
float a[9], k[4];
int coi1 = 0, coi2 = 0;
CvMat srcstub, *src = (CvMat*)_src;
CvMat dststub, *dst = (CvMat*)_dst;
CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
int cn, src_step, dst_step;
CvSize size;
if( !inittab )
{
icvInitLinearCoeffTab();
icvInitCubicCoeffTab();
inittab = 1;
}
CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
if( coi1 != 0 || coi2 != 0 )
CV_ERROR( CV_BadCOI, "The function does not support COI" );
if( CV_MAT_DEPTH(src->type) != CV_8U )
CV_ERROR( CV_StsUnsupportedFormat, "Only 8-bit images are supported" );
if( src->data.ptr == dst->data.ptr )
CV_ERROR( CV_StsNotImplemented, "In-place undistortion is not implemented" );
if( !CV_ARE_TYPES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
CV_ERROR( CV_StsBadArg,
"Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
cvConvert( A, &_a );
_k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
cvConvert( dist_coeffs, &_k );
cn = CV_MAT_CN(src->type);
size = cvGetMatSize(src);
src_step = src->step ? src->step : CV_STUB_STEP;
dst_step = dst->step ? dst->step : CV_STUB_STEP;
if( fabs((double)k[2]) < 1e-5 && fabs((double)k[3]) < 1e-5 && icvUndistortGetSize_p )
{
int buf_size = 0;
CvUndistortRadialIPPFunc func =
cn == 1 ? (CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C1R_p :
(CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C3R_p;
if( func && icvUndistortGetSize_p( size, &buf_size ) >= 0 && buf_size > 0 )
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
if( func( src->data.ptr, src_step, dst->data.ptr,
dst_step, size, a[0], a[4],
a[2], a[5], k[0], k[1], buffer ) >= 0 )
EXIT;
}
}
icvUnDistort_8u_CnR( src->data.ptr, src_step,
dst->data.ptr, dst_step, size, a, k, cn );
__END__;
cvFree( &buffer );
}
CV_IMPL void
cvUndistort2( const CvArr* _src, CvArr* _dst, const CvMat* A, const CvMat* dist_coeffs )
{
static int inittab = 0;
CV_FUNCNAME( "cvUndistort2" );
__BEGIN__;
float a[9], k[5]={0,0,0,0,0};
int coi1 = 0, coi2 = 0;
CvMat srcstub, *src = (CvMat*)_src;
CvMat dststub, *dst = (CvMat*)_dst;
CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
int cn, src_step, dst_step;
CvSize size;
if( !inittab )
{
icvInitLinearCoeffTab();
icvInitCubicCoeffTab();
inittab = 1;
}
CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
if( coi1 != 0 || coi2 != 0 )
CV_ERROR( CV_BadCOI, "The function does not support COI" );
if( CV_MAT_DEPTH(src->type) != CV_8U )
CV_ERROR( CV_StsUnsupportedFormat, "Only 8-bit images are supported" );
if( src->data.ptr == dst->data.ptr )
CV_ERROR( CV_StsNotImplemented, "In-place undistortion is not implemented" );
if( !CV_ARE_TYPES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
(CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1) )
CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
if( !CV_IS_MAT(dist_coeffs) || (dist_coeffs->rows != 1 && dist_coeffs->cols != 1) ||
(dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 &&
dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 5) ||
(CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
CV_MAT_DEPTH(dist_coeffs->type) != CV_32F) )
CV_ERROR( CV_StsBadArg,
"Distortion coefficients must be 1x4, 4x1, 1x5 or 5x1 floating-point vector" );
cvConvert( A, &_a );
_k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
cvConvert( dist_coeffs, &_k );
cn = CV_MAT_CN(src->type);
size = cvGetMatSize(src);
src_step = src->step ? src->step : CV_STUB_STEP;
dst_step = dst->step ? dst->step : CV_STUB_STEP;
icvUnDistort_8u_CnR( src->data.ptr, src_step,
dst->data.ptr, dst_step, size, a, k, cn );
__END__;
}
